Title:
制御システムおよび被駆動体の制御方法
Document Type and Number:
Japanese Patent JP6836544
Kind Code:
B2
Abstract:
The control system includes: a driven body driven by a motor; a control apparatus configured to operate the body; and a sensor detecting a state quantity of the body, wherein the control apparatus includes: a storage storing a correction amount for correcting vibration occurring at the mounting position; a control unit configured to generate a command value for the motor in each control cycle based on an operation program, and perform operation control of the body based on the correction amount and the command value; a calculation unit configured to calculate the correction amount; an update unit configured to update the correction amount each time the operation control is performed; and a determination unit configured to determine validity of at least one of an internal parameter and the like of the sensor based on the command value and the state quantity each time the operation control is performed.
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Inventors:
Yamaoka
Moto Suzuki
Moto Suzuki
Application Number:
JP2018090496A
Publication Date:
March 03, 2021
Filing Date:
May 09, 2018
Export Citation:
Assignee:
FANUC Corporation
International Classes:
B25J13/08
Domestic Patent References:
| JP2015163416A |
Attorney, Agent or Firm:
Kunio Ueda
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi